ArduPilot
Plane: Unexpected Large Target Bearing at WP1
Issue details
This could be a potential issue I've encountered multiple times while using the Software In The Loop (SITL) simulation. During my tests, I observed that upon reaching the first waypoint (WP1), the system consistently outputs a "Large" target bearing value. This occurs despite the fact that the whole mission path is a straight line, and there are no significant bearing errors observed throughout the route.
Version V "4.5.4" commit "e8f937aa"
Platform [ ] All [ ] AntennaTracker [ ] Copter [●] Plane [ ] Rover [ ] Submarine
Airframe type Fixed Wing
Hardware type Issue found in SITL (Built-In SITL and flightaxis SITL)
Logs Log
Indeed, in the log you provided, the target bearing "jumps" after reaching each waypoint.
However, the actual navigation bearing seems to "jump" only at the first waypoint, bringing along a jump in the roll demand.
I can't reproduce the issue on my system, though.
Can you provide the SITL command and the mission you use?
Indeed, in the log you provided, the target bearing "jumps" after reaching each waypoint. However, the actual navigation bearing seems to "jump" only at the first waypoint, bringing along a jump in the roll demand.
I can't reproduce the issue on my system, though.
Can you provide the SITL command and the mission you use?
In the Simulation tab command line: --home=49.3137086,30.1507759,226.95,22
Just a trivial mission, Takeoff and then Auto.
Here's the mission.
Your mission has a "misalignment" of ~1.5deg.
And yes, with this mission it's reproducible in master:
I also modified your mission to "misalign" the segments by ~5 degrees and it still happens, to a reduced degree:
Here's the modified mission and the log. 21217.zip mission_modified.txt
Looks like a veritable bug to me.